Diff: Headers/Robot.h

Revision:

10:f76476943a6c

Parent:

6:ba26dd3251b3

Child:

11:292bdbd85a9c

--- a/Headers/Robot.h	Tue May 02 08:00:19 2017 +0000
+++ b/Headers/Robot.h	Wed May 03 13:54:51 2017 +0000
@@ -4,6 +4,7 @@
 #include <cstdlib>
 #include <mbed.h>
 #include "Servo.h"
+#include "ServoArm.h"
 
 #include "mbed.h"
 
@@ -59,9 +60,9 @@
     public:
         
         Arm();
-        Arm(Servo* servoArm);
+        Arm(ServoArm* servoArm);
         
-        void init(Servo* servoArm);
+        void init(ServoArm* servoArm);
         
         void collecttodown(int* done);
         void downtocollect(int* done);
@@ -69,18 +70,35 @@
         void backtocollect(int* done);
         
     private:
-        Servo*  servoArm;
+        ServoArm*  arm;
         float   angle;
         
 };
 
+class Greifer
+{
+    
+    public:
+    
+        Greifer(Servo* greifer);
+        Greifer();
+        
+        void init(Servo* greifer);
+        void take();
+        void leave();
+        
+    private:
+        Servo* greifer;        
+
+};
+
 class Robot
 {
     
     public:
         
         //Robot related:
-        Robot(PwmOut* left, PwmOut* right, DigitalOut* enableSignal, DigitalOut* leds, AnalogIn* FarbVoltage,  AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, Servo* Arm );
+        Robot(PwmOut* left, PwmOut* right, DigitalOut* powerSignal, DigitalOut* leds, AnalogIn* FarbVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, ServoArm* Arm, Servo* Greifer );
         
         //Drive Functions
         void drive();
@@ -106,7 +124,8 @@
         void nothingFound(int* counter, int* timer, int* lastAct);
         
         void search(int* counter, int* timer, int* found);
-        void lego(int* counter, Timer* t);
+        
+        int getErrorMotor();
         
         //DistanceSensors related:
         DistanceSensors sensors[9];
@@ -127,19 +146,22 @@
         //Arm related:
         Arm             Arm;
         
+        //Greifer related:
+        Greifer         Greifer;
+        
     private:
     
         //Robot related:
         PwmOut*         left;
         PwmOut*         right;
+        DigitalIn*      errorMotor;
     
         DigitalOut*     powerSignal;
         DigitalIn*      errorSignal;
         DigitalIn*      overtemperatur;
         
-        Servo*          arm;
-        
-
+        Servo*          greifer;
+        ServoArm*       arm;
 };
 
 #endif
\ No newline at end of file